Fig. 3. Validation of the revised quasi-steady model for representative kinematic patterns. (A) Advanced rotation. (B) Symmetrical rotation. (C) Delayed rotation. (Ai,Bi,Ci) Two-dimensional cartoons of the three-dimensional kinematics and the translational (broken line) and rotational (solid line) velocities as a function of non-dimensional time within the stroke cycle. The red arrows signify the net force measured on the surface of the flapping wing. (Aii,Bii,Cii) Drag; (Aiii,Biii,Ciii) Lift. The red lines indicate the measured forces, the green lines indicate the quasi-steady translational component based on empirical measurements, the purple lines indicate the quasi-steady rotational component and the blue lines indicate calculated estimates of added mass. In Aiv,v, Biv,v and Civ,v, the summed quasi-steady predictions for drag (Aiv,Biv,Civ) and lift (Av,Bv,Cv) are shown in black and compared with the measured values (red lines) for the corresponding kinematics.